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Stack Of Tasks
tiago_metapkg_ros_control_sot
Commits
99b38851
Commit
99b38851
authored
Apr 29, 2019
by
Olivier Stasse
Browse files
[sot_tiago_bringup] Add missing file geometric_simu_context.launch
parent
d1359004
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1
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sot_tiago_bringup/launch/geometric_simu_context.launch
0 → 100644
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99b38851
<!-- -*-xml-*-
Handle ROS simulation of the SoT.
-->
<launch>
<!-- Which robot are we controlling ? -->
<arg
name=
"robot"
default=
"tiago"
/>
<arg
name=
"libsot"
default=
"libsot-tiago-controller.so"
/>
<!-- BTW we are in simulation ? -->
<!-- Load robot model. -->
<param
name=
"robot_description"
textfile=
"$(find tiago_data)/urdf/tiago_reduced.urdf"
/>
<!-- Load robot sot params. -->
<rosparam
command=
"load"
file=
"$(find sot_tiago_bringup)/sot/tiago.yaml"
/>
<machine
name=
"geometric_simu_machine"
address=
"localhost"
/>
<!--
Read joint_states topic and publish link positions to tf.
openhrp_bridge publishes encoder values to the joint_states topic
therefore, this provide the most reliable way of identifying link
relative position on HRP-2.
-->
<node
name=
"robot_state_publisher"
pkg=
"robot_state_publisher"
type=
"state_publisher"
respawn=
"true"
>
<param
name=
"tf_prefix"
value=
""
/>
</node>
<!-- Buffer Server -->
<node
pkg=
"tf2_ros"
type=
"buffer_server"
name=
"tf2_buffer_server"
respawn=
"true"
>
<param
name=
"buffer_size"
value=
"120.0"
/>
</node>
</launch>
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